External Interrupt Latency. RF operations of the ESP32 SoC require time-sensitive and interrupt-based software which can be complex. This is double the 40 MHz default value and doubles the speed at which code is loaded or executed from flash. I am seeing a similar issue as noted here:. If there was a very small interrupt <10 cycles, it probably wouldn't notice and would keep going, however, if I do 12 MBit USB, then, there is no timer, I'll simply be relying on the time it takes to execute every. As shown on the oscilloscope screenshot below, why is the interrupt triggered twice ? The issue is the same if I use different GPIO pins for the interrupt and gate. An ESP32 timer group should be identified using timer_group_t. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). 2 (aditional saturation enable)+. 2. @nealmartini The ESP32 is a multiprocessor using a Multitasking operating system (FreeRTOS). It would be good to find a way to have interrupt handlers on the ESP32 have consistent and low latency. This is solved by //looking at the time between interrupts and refusing any interrupt too close to another one. INTENABLE & INTERRUPT gives the bitmask set of currently asserted and enabled interrupts. After having issues with interrupt latency I've checked an older thread where it's described that interrupt. 35uS, the master brings the line high. This method is useful for some simple callbacks which aim for lower latency. I'm using ESP32 Arduino IDE. esp32 GPIO interrupt latency. " The ESP32-C3 has one core, with 31 interrupts. IRQ Startup latency. Each interrupt has a programmable priority level. Through IO MUX, RTC IO MUX and the GPIO matrix, peripheral input signals can be from any IO pins, and. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . 04 in a VirtualBox. You could look into the dedicated GPIO module; from what I know the interrupts of those are a bit faster. That causes an interrupt and you write the indication that the interrupt happened to a queue and then end the interrupt handler. Re: Critical attention to GPIO interrupts. ESP32 Interrupt. 2 us (when the CPU frequency is 240 MHz and frequency scaling is not enabled). ESP32 GPIO Interrupts. within the loop, the WiFi connection just sits idle in the background. void taskthingy ( void *pvparemeters ) { //assign interrupt here and interrupt will go onto the core the task has been assigned to. But technically the edge detection inside the CPU stores the values in a register somewhere and compares them to figure out if an edge occured between cycles. Each interrupt has a certain priority level, most (but not all) interrupts are connected to the interrupt mux. You must ensure that all data and functions accessed by these interrupt handlers, including the ones that handlers call, are located in IRAM or DRAM. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). The esp_intr_alloc abstraction exists to hide all these. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. Perhaps those functions are executed very often, or have to meet some application requirements for latency or throughput. 2 posts • Page 1 of 1. I think there has been a little bit of progress, although not specifically for this purpose: the GPIO drivers have been optimized a bit so if you use the ESP-IDF API, your interrupt latency should be a bit lower (but not as low as using the bare metal), and ESP-IDF now allows you to have high-prio assembly. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). You can also test that your interrupt handler is running on core 1 by calling this from it. Espressif ESP32 Official Forum. On the ESP32, the Interrupt Allocation can route most interrupt sources to these interrupts via the interrupt mux. I think there has been a little bit of progress, although not specifically for this purpose: the GPIO drivers have been optimized a bit so if you use the ESP-IDF API, your interrupt latency should be a bit lower (but not as low as using the bare metal), and ESP-IDF now allows you to have high-prio assembly. bmakovecki Posts: 4 Joined: Fri Nov 03, 2017 9:20 pm. This behavior was not happening with a Arduino Nano, I wanted to replace the nano with the ESP32. 04 in a VirtualBox. At 17uS, the esp32 responds to the event and sets an IO line to respond, which is too late. Alternatively, it may be enough to run the gpio_install_isr_service call on a task that is pinned to CPU1. The code is functional, but I can't work with. After having issues with interrupt latency I've checked an older thread where it's described that interrupt latency with C is around 2us. FAQ; Forum. tankist Posts: 5 Joined: Tue Feb 08, 2022 7:22 am. MPR Pressure Sensor. class myClass { static volatile bool switchChanged; // declare public: void begin () { pinMode (2, INPUT. Therefore, there is a lower limit to the timeout value of one-shot esp_timer. Here is a skeleton code, to trigger an interrupt via an external signal on your ESP32 board with MicroPython :. Register; Logout; Contact us; Board index English Forum Explore General Discussion; Interrupt low Latency - again. When the Arduino IDE starts sending the code, you can release the button and wait for the flashing process to be completed. We’ll use the timer compare match interrupts (COMPA & COMPB) at the same time. Maximum voltage for low input is 0. GPIO Summary. ESP32 external interrupt latency. Through oscillometer I found the interval between the pulse and spi cs signal was as much as 100~200 us, while this thread says the interrupt latency can be reduced to about 2 us. h> #include <HTTPClient. The down-side (of course) is that there is now a latency between when the interrupt occurs and when the interrupt is actually processed. Post by bmakovecki ». greetings sdk: IDF V4. Through oscillometer I found the interval between the pulse and spi cs signal was as much as 100~200 us, while this thread says the interrupt latency can be reduced to about 2 us. ISR inside a class as a static class function with static variables. The cache guards can't know if you're trying to access something in flash or PSRAM; it will crash if your interrupt happens to read or write that. STM32 ESP32 ARDUINO PIC Electronics. Now I have found the time to do it for myself and with the ESP32 and some other platforms. The ESP32-S3 has a dual-core microprocessor Xtensa® 32-bit LX7, and has support for the 2. com Perhaps those functions are executed very often, or have to meet some application requirements for latency or throughput. tool-dfuutil-arduinoGPIO interrupt configuration flags. If assigning the interrupt in a task. 1 Answer. Through oscillometer I found the interval between the pulse and spi cs signal was as much as 100~200 us, while this thread says the interrupt latency can be reduced to about 2 us. Overview. 2 posts. IRQ Startup latency. When the voltage on the input is beetween those values, you can expect undefined behaviour. Both can work with approximately 1 bit time of interrupt latency from OTHER code. Each interrupt has a certain priority level, most (but not all) interrupts are connected to the interrupt mux. It has integrated 2. external interrupt jitter. CMake is an open-source, cross-platform family of tools designed to build, test and package software. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . That causes an interrupt and you write the indication that the interrupt happened to a queue and then end the interrupt handler. Espressif ESP32 Official Forum. Skip to content . : on interrupt load a value from a memory and feed it out a GPIO port) written in assembly. The timer_u32() is an alternative for the esp_timer_get_time() function as described in Epressif Documentation. void timerAttachInterruptArg (hw_timer_t. Each CPU has its own interrupt latency which is dictated by the. Each interrupt has a certain priority level, most (but not all) interrupts are connected to the interrupt mux. 04 in a VirtualBox. Hi, I'm using a GPIO pin as a external interrupt, responding to negedge events. GPIO Interrupt Latency - once more. T2 gives us the exact number of CPU clocks between 1 PPS edges, which is an exact measure of its actual frequency. Not the stm IDEs. I can not figure out how to remove buffer or increase size to as close as possible real time transmission. Top. framework-espidf. 2 Interrupt Service Routine (ISR) Handling. The problem is, i have a huge latency of 200-250ms between input signal on transmitting ESP32 and receiving ESP32, and i would like to eliminate this or lower it as far as possible. Post by ESP_igrr » Mon Nov 07, 2016 11:36 am . begin (115200); Serial. bmakovecki Posts: 4 Joined: Fri Nov 03, 2017 9:20 pm. This condition is however met in the majority of real world use cases, such as an interrupt unblocking a task that will process the data received by the interrupt. attachInterrupt(GPIOPin, ISR, Mode); This function accepts three arguments: GPIOPin – sets the GPIO pin as the interrupt pin, which tells ESP32 which pin to monitor. Transmitter code. I think there has been a little bit of progress, although not specifically for this purpose: the GPIO drivers have been optimized a bit so if you use the ESP-IDF API, your interrupt latency should be a bit lower (but not as low as using the bare metal), and ESP-IDF now allows you to have high-prio assembly. Choose N larger than the loop cycle duration but smaller than interrupt duration. If the ISR for interrupt 0 is executing and interrupt 1 occurs, it will be held until interrupts are turned on again after I0 has finished. Methods. After that you get a cylcetime of ~300ns (disable interrupts for core 0). Setting a bit and polling this bit in another task within an infinite. Skip to content . Writing to, and then subsequently reading from, the timer command queue adds an additional latency. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . The esp_intr_alloc () abstraction exists to hide all these implementation details. For example, a timer can be used to generate a. Because there are more interrupt sources than interrupts, sometimes it makes sense to share an interrupt in multiple drivers. The operating system switches task base on priority. The ESP32-S2 chip features 43 physical GPIO pins (GPIO0 ~ GPIO21 and GPIO26 ~ GPIO46). The 1 PPS signal is connected to a second timer (T2) that simply "captures" its value in a register and also triggers an interrupt, at which time we also take a snapshot of T1's value. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). 35uS, the master brings the line high. Interrupt Latency. Arduino Timer Interrupt Compare Match Example2. Now I have found the time to do it for myself and with the ESP32 and some other platforms. ESP_igrr Posts: 2066 Joined: Tue Dec 01, 2015 8:37 am. At first, I thought the I2C was hanging in the ESP32 but I can see that the problem is. greetings sdk: IDF V4. Espressif ESP32 Official Forum. Interrupt latency on the ESP32 is in the order of microseconds, unfortunately; there's a fair amount of prologue going on. esp32 GPIO interrupt latency. ESP32 Interrupt jitter at 20kHz. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . The esp_intr_alloc () abstraction exists to hide all these. If you're seeing significantly higher latencies, consider skipping Arduino - I'm not sure that the GPIO library there is oriented for performance. The interrupts can be sensitive to pin physical or logical level. The time between each pulse is anything. Use vTaskSuspend () at the start of the loop to have the task wait till it's woken up. ”. How can I minimize latency and execution time for interrupt ? I register interrupt as: Code: Select all. The later versions of esp-idf actually have hooks so you don't need to go about messing in idf itself if you want to use high-level interrupts in your program. 2 posts • Page 1. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . This is useful for interrupts which need a guaranteed minimum execution latency, as flash write and erase operations can be slow (erases can take tens or hundreds of milliseconds to. 2 us (when the CPU frequency is 240 MHz and frequency scaling is not enabled). As far as I know, ESP32 has no Schmitt trigger inputs, so what you get is the expected behaviour. 9usec. Example: Turn on an LED when a push button is pressed. Apparently the expected interrupt latency is around 2 us; alternatively you can write your own high level interrupt handlers in assembler. Post by jfmateos » Mon Nov 07, 2016 9:03 am . 75xVDD. 4 GHz Wi-Fi and Bluetooth 5 (LE) with a long-range support. Preventing ISRs from running in a timely manner is undesirable as it can increase ISR latency, and also prevent task switching (as task switching is executed form an ISR). Choose the board, COM port, hold down the BOOT button, click upload and keep your finger on the BOOT button pressed. That's. FAQ; Forum. 15 postsWriting into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). Each interrupt has a fixed priority, most (but not all) interrupts are connected to the interrupt matrix. Serial. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. MPU6050: Invensense Motion Tracking Device. I'm detecting another delay related with the GPIO interrupts from ESP32. I have done a measurement and delay from external. The ESP32 has eight 16-Bit pulse count units, either for quadrature or single input decoders for reading quadrature encoded signals. Creating and starting a timer, and dispatching the callback takes some time. Hi, I'm using a GPIO pin as a external interrupt, responding to negedge events. But upon looking at the esp32 documentation for timer callback: "ESP_TIMER_TASK. It also takes 26uS to process the IRQ body, though I am using QueueSendfromISR in the. esp32 GPIO interrupt latency. On a congested wireless channel (meaning lots of other devices broadcasting) you'd routinely see 100+ ms latencies as your devices have to wait for a free radio slot. Espressif ESP32 Official Forum. 9usec. One way to get around this is to write a high-level interrupt in assembly, but that is non-trivial and I don't know if the Arduino environment supports it. There isn't any other device on the bus so when the PIC16 has new data available it generates a 50us low pulse on the SCL line, the ESP32 detects this pulse and starts reading data. Espressif ESP32 Official Forum. This method is useful for some simple callbacks which aim for lower latency. Typically, if using the Arduino AttachInterrupt thingy in setup () the interrupt will be attached to core1. How to improve interrupt latency with Arduino/C. But anyway, we know for sure that the dedicated external interrupt pins. ESP-NOW is a kind of connectionless Wi-Fi communication protocol that is defined by Espressif. Post by jeromeh » Sun Feb 05, 2017 8:31 am . Depending on the project at hand I switch between two development environments: either ESP-IDF, running under Eclipse on Ubuntu 18. The MIPS chip I'd like to replace currently does it in 225 ns at 80 MHz (18 clock cycles), and any increase is likely to make things no longer work. Return. Home; Quick links. Post by jeromeh » Sun Feb 05, 2017 8:31 am . ”. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). Each interrupt has a certain priority level, most (but not all) interrupts are connected to the interrupt mux. Choose the board, COM port, hold down the BOOT button, click upload and keep your finger on the BOOT button pressed. Espressif ESP32 Official Forum. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). jeromeh Posts: 31 Joined: Thu Dec 22, 2016 5:41 am. This is double the 40 MHz default value and will double the speed at which code is loaded or executed from flash. 4, hd:ESP32-S3 when a pulse is detected by one io, an spi transaction will be triggered. The following lines connect the. The ESP32-S3 is based on an Xtensa® LX7 series microprocessor. Post by jfmateos » Mon Nov 07, 2016 9:03 am . There are different solutions. At 17uS, the esp32 responds to the event and sets an IO line to respond, which is too late. At first, I thought the I2C was hanging in the ESP32 but I can see that the problem. Enabling power management features comes at the cost of increased interrupt latency. 1. Arduino Interrupts Latency & Response Time. The ESP32 has two cores, with 32 interrupts each. ESP_igrr Posts: 1970 Joined: Tue Dec 01, 2015 8:37 am. Extra latency depends on a number of factors, such as the CPU frequency, single/dual core mode, whether or not frequency switch needs to be done. Refer to “ESP32 practical power saving” for a detailed description on sleep mode. This assumes that the interrupt handler is in cache or ITIM. But if they are happening simultaneously, then the one with the higher priority runs first and the lower priority gets queued. With ESP32, we can configure all the GPIO pins as hardware interrupt sources. In this case, the IO_MUX is used to connect these pads directly to the peripheral. The GPIO_INT_* flags are used to specify how input GPIO pins will trigger interrupts. If one needs a service or product, he goes to him and apprises him of his needs. 2 us (when the CPU frequency is 240 MHz and frequency scaling is not enabled). Espressif ESP32 Official Forum. 25VDD and the minimum voltage for the high input os 0. That needs 2 µs latency to start the waiting task RTOS_2 in core 0. We even have the NMI free, in theory, that should 100% guarantee you interrupt latency. However, it is possible to minimize this latency by using advanced parameters. Now I have found the time to do it for myself and with the ESP32 and some other platforms. I will focus on describing how to refactor a. The ISR handler should clear the interrupt source if it’s required (Some don’t need to be cleared like the SysTick). FAQ; Forum. for (;;) { } } gcjr:IRQ Startup latency. I have no idea what the latency would be without. Yes, but for filling a beaker I doubt a few microseconds will matter. We are using two external interrupts on the esp32, one interrupt is attached to core 1 (this is a high level interrupt on GPIO_NUM_35) and the other one is a low level interrupt which is tied to core 0 on GPIO_NUM_27. The ESP32-S3 has two cores, with 32 interrupts each. Here is the source to show superfast interaction: External interrupt detected by task Core1 --300ns--> RTOS_2 (core 0) reacts. Assembler Routine for ESP32 / ISR. NORA-W106 (ESP32-S3) NORA-W106 module. common task congifuration. Post by MiguelMagno » Mon Aug 21, 2023 10:31 pm . Now I have found the time to do it for myself and with the ESP32 and some other platforms. I want to know if it is a normal behavior of F280049C operating at 100Mhz. Espressif ESP32 High Resolution Timer. wdt. Re: External Interrupt Latency. And, because interrupts have things in common with deep-sleep, we w. 2 posts • Page 1 of 1. RTOS task notifications can only be used when there is only one task that can be the recipient of the event. Post by jfmateos » Mon Nov 07, 2016 9:03 am . Now I have found the time to do it for myself and with the ESP32 and some other platforms. GPIO Interrupt Latency - once more. Depending on the project at hand I switch between two development environments: either ESP-IDF, running under Eclipse on Ubuntu 18. Context saving and restoration is a process that the CPU needs to do just to smoothly switch between main program execution and ISR handlers. Re: handling GPIO interrupts. Re: Interrupt low Latency - again. sei(): Set interrupt global enable flag bit (re-enable interrupts after being disabled). Andreas Spiess made a great video on the ESP32. This function is used to attach interrupt to timer using arguments. Because there are more interrupt sources than interrupts, sometimes it makes sense to share an interrupt in multiple drivers. Depending on the project at hand I switch between two development environments: either ESP-IDF, running under Eclipse on Ubuntu 18. Optimization efforts should be targeted at these. I seem to remember recent ESP-IDF versions have some allowances to also run C high-level interrupts, but I don't have the details on that. Espressif ESP32 Official Forum. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. Skip to content. Merge pull request micropython#2972 from tannewt/esp32s2_fixes1. Post by go4retro » Thu Jan 10, 2019 6:26 am . 6. One way to get around this is to write a high-level interrupt in assembly, but that is non-trivial and I don't know if the Arduino environment supports it. I would like to know the interrupt latency for an external pin interrupt in ESP32. ISR – is the name of the function that. Espressif ESP32 Official Forum. I would like to know the interrupt latency for an external pin interrupt in ESP32. Measure its duration using the task set up in pt. Skip to content. ESP_igrr Posts: 2066 Joined: Tue Dec 01, 2015 8:37 am. On the ESP32, the Interrupt Allocation can route most interrupt sources to these interrupts via the interrupt mux. It has 22 programmable GPIOs with support for ADC, SPI, UART, I2C, I2S, RMT, TWAI, and PWM. Top. Top. 35uS, the master brings the line high. Since core 0 is already used for those tasks, it is always best to use the second core 1. Postby jeromeh » Sun Feb 05, 2017 8:31 am. 5 posts • Page 1 of 1. Register; Logout; Contact us; Board index English Forum Explore General Discussion; Interrupt low Latency - again. Re: ESP IDF get GPIO level at time of interrupt. I'm interested to see if the GPIO interrupt latency is more consistent than I have found on the ESP32. This is useful for interrupts which need a guaranteed minimum execution latency, as flash write and erase operations can be slow (erases can take tens or hundreds of milliseconds to. Application Controlled Deferred Interrupt Handling Application controlled deferred interrupt handling is so called because each interrupt that uses this method executes in the context of a task created by the application writer. The code in loop is simply to output to the user, and like with External Interrupts, loop can simply inspect the interrupts flag, and perform an action based on this as needed. . when a pulse is detected by one io, an spi transaction will be triggered. , for low latency operations), set the ESP_INTR_FLAG_IRAM flag when the interrupt handler is registered. and it should be PubSubClient client (net); 1 Like. CTR with CBC-MAC Protocol (CCMP) is used to protect the action frame for security. If an interrupt request fires while the program is running a critical section, the request is put on hold and serviced only when the critical section is done. I think there has been a little bit of progress, although not specifically for this purpose: the GPIO drivers have been optimized a bit so if you use the ESP-IDF API, your interrupt latency should be a bit lower (but not as low as using the bare metal), and ESP-IDF now allows you to have high-prio assembly. cases. Pete. 35uS, the master brings the line high. We set it to CHANGE to trigger the interrupt whenever the pin changes value – for example from HIGH to LOW or LOW to HIGH. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . Top. With wifi connected it tends to be on the higher side. This process is generally time consuming (currently clocks in at approximately a few microseconds on the ESP32) and is not suited for High Level interrupts since they're meant. Surely that will do the trick. Interrupt low Latency - again. Software interrupts are internal which occur in response to the execution of a software instruction. Espressif ESP32 Official Forum. Each interrupt has a fixed priority, most (but not all) interrupts are connected to the interrupt matrix. 35uS, the master brings the line high. I think there has been a little bit of progress, although not specifically for this purpose: the GPIO drivers have been optimized a bit so if you use the ESP-IDF API, your interrupt latency should be a bit lower (but not as low as using the bare metal), and ESP-IDF now allows you to have high-prio assembly interrupt handlers without having to. GPIO Interrupt Latency - once more. These ESP32-C3 Hardware Timers, using Interrupt, still work even if other functions are blocking. Hi, I'm using a GPIO pin as a external interrupt, responding to negedge events. The syntax looks like below. First of all, the timer should be initialized by calling the function timer_init() and passing a structure. It also takes 26uS to process the IRQ body, though I am using QueueSendfromISR in the. Creating and starting a timer, and dispatching the callback takes some time. At 17uS, the esp32 responds to the event and sets an IO line to respond, which is too late. In the interrupt handler itself I only set a variable that causes the execution of a function in the loop. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. Interrupt latency on the ESP32 is a little higher than ESP8266, although there are also a lot of other variables which can effect interrupt timing. Writing into a queue in order to handle the interrupt in another task takes way too much time (about 13 us). greetings sdk: IDF V4. Hi, I am having trouble with the external interrupt latency being very inconsistent. Typically, if using the Arduino AttachInterrupt thingy in setup () the interrupt will be attached to core1. :49 am. Each pin can be used as a general-purpose I/O, or be connected to an internal peripheral signal. The ESP32 understandably doesn't like having to load code from flash to RAM in order to service an interrupt. Interrupt low Latency - again. In the attached "interrupt. But the difference is speed as stated earlier. Now I have found the time to do it for myself and with the ESP32 and some other platforms. At 17uS, the esp32 responds to the event and sets an IO line to respond, which is too late. Re: Comment about low-latency interrupts #52669. I'm using the following code: Code: Select all. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. ESP32-S3 GPIO interrupt latency is too high. ESP32 GPIO Interrupts. Re: EXTI interrupt latency on STM32. Espressif ESP32 Official Forum. Did you ever use higher level interrupts in assembly? If yes could you provide me with some example code showing the interrupt setup. The Full code Listing. Hi, I'm using a GPIO pin as a external interrupt, responding to negedge events. Setting a bit and polling this bit in another task within an infinite loop is faster (2 us), but cannot be a real option, because this is waste of resources and prevents from deep sleep options. To enable pin change interrupt on a pin, we’ll need to manipulate the PCICR register: The last three bits of this register are control bits for enabling a PCINT group. 2 posts • Page 1 of 1. I think there has been a little bit of progress, although not specifically for this purpose: the GPIO drivers have been optimized a bit so if you use the ESP-IDF API, your interrupt latency should be a bit lower (but not as low as using the bare metal), and ESP-IDF now allows you to have high-prio assembly interrupt handlers without having to copy-paste the ESP-IDF vector/startup code integrally. With two cores, wifi using core0 and my app and GIPO interrupts using core1 I expected the ESP32 to be able to respond consistently. Unlike on other micropython ports, on the ESP32 the time between a hardware interrupts occurring and Python handlers being called is irregular and. Post by mTron47 » Fri Jul 13, 2018 3:39 pm . Depending on the project at hand I switch between two development environments: either ESP-IDF, running under Eclipse on Ubuntu 18. The objective is to allow the Arduino to continue doing what it was doing before the interrupt.